CN102079250B - Brushless double-fed motor driving system of electric vehicle and control method thereof - Google Patents

Brushless double-fed motor driving system of electric vehicle and control method thereof Download PDF

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Publication number
CN102079250B
CN102079250B CN200910220276A CN200910220276A CN102079250B CN 102079250 B CN102079250 B CN 102079250B CN 200910220276 A CN200910220276 A CN 200910220276A CN 200910220276 A CN200910220276 A CN 200910220276A CN 102079250 B CN102079250 B CN 102079250B
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China
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rotor
stator
inverter
control
motor
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CN200910220276A
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Chinese (zh)
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CN102079250A (en
Inventor
丁惜瀛
孙宜标
杨树平
龚淑秋
王宏利
闫秀恪
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沈阳工业大学
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/64Electric machine technologies in electromobility
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

Abstract

The invention belongs to the fields of a driving device of an electric vehicle and a hybrid electric vehicle, and a control method thereof. The driving system provided by the invention comprises a brushless double-fed motor, a stator inverter, a rotor inverter, a stator/rotor winding relay control circuit, a motor driving and control module, a complete electric vehicle controller, an accumulator, a battery management unit and a current-voltage speed sensor, wherein the ports of the stator inverter and rotor inverter are respectively connected with the port of the accumulator; the port of the motor driving and control module is respectively connected with the ports of the stator inverter and rotor inverter; and the port of the motor driving and control module is connected with the port of the stator/rotor winding relay control circuit. The control method provided by the invention mainly comprises the following steps: judging the running state of a driving motor; and if the driving motor is in an asynchronous running state or a double-fed running state or the stator and rotor inverters have faults, successively and respectively executing the corresponding subprograms. The invention can enhance the control moment of a high-speed region of the vehicle, enlarge the speed regulating range, increase the recovery rate of energy and enhance the continuous voyage mileage of the electric vehicle.

Description

Electronlmobil brushless dual-feed motor drive system and control method thereof

Technical field

The invention belongs to electronlmobil and mixed power automobile driving system and control technology field thereof, relate to a kind of electronlmobil brushless dual-feed motor drive system and control method thereof that can be applicable to High Performance speed governing systems such as hybrid vehicle, electric locomotive.

Background technology

Motor driven systems is the critical component of electronlmobil, and under the prerequisite that the Vehicular accumulator cell technology does not make a breakthrough as yet, it is determining the drive ability of car load.The motor that present electronlmobil uses mainly contains three kinds of induction motor, switched reluctance machines and magneto-electric machines.Induction motor is simple in structure, and reliability is high, and the application of vector controlled, Direct Torque Control makes it to have had the good characteristic that is similar to DC machine again, but can the current control very flexible.Wound induction motor operation control alerting ability is high, but has brush.Switched reluctance machines is simple in structure, firm, has both had high efficiency, the high reliability of Vector Control System for Asynchronous Machine, have the excellent control characteristic of Direct Current Governor System again, but its noise is big, torque pulsation is serious, adopts it to drive automobile, and stationarity is relatively poor; Magneto-electric machine has efficient, high control accuracy, high torque density, low noise characteristics have higher using value aspect Drive for EV, but magneto-electric machine needs the detection rotor position of magnetic pole, and high-speed cruising is comparatively complicated; Permanent-magnet material belongs to scarce resource, costs an arm and a leg; And permanent magnet has the demagnetization problem, and cost is also than higher, and these have all restricted the application in automobile of magneto-electric machine.

The disadvantage of tradition double feedback electric engine is to have brush; Brushless dual-feed motor has structurally overcome the deadly defect of coiling electric motor double-fed operation; But it uses still very limitation; The application of double feedback electric engine at present concentrates on generator operation mostly, and brushless dual-feed motor is applied to the drive system of electronlmobil and hybrid vehicle and does not appear in the newspapers as yet.

Summary of the invention

The present invention is intended to overcome the weak point of prior art and a kind of electronlmobil double feedback electric engine actuating device is provided; It can improve the control torque in automobile high-speed district, and expanding governing promotes energy recovery rate; Through the energy consumption of reduction motor driven systems, and then the continuation of the journey mileage of raising electronlmobil; When inverter circuit breaks down; Must not increase equipment promptly can be automobile the low speed redundancy running is provided; Though increase by a cover inverter,, the capacity of each two inverter lowered through can optimize the capacity of two inverters to the ability flow analysis under the various running statees of system; Because the price of high capacity inverter and low capacity inverter is non-linear rising, therefore total inverter cost does not have big increase.

The present invention also provides control method a kind of and the electronlmobil brushless dual-feed motor drive system that said system matches.

For achieving the above object, electronlmobil brushless dual-feed motor drive system of the present invention is achieved in that

A kind of electronlmobil brushless dual-feed motor drive system, it comprises brushless dual-feed motor, stator inverter, rotor inverter, rotor/stator winding bang-bang circuit, motor-driven and control module, vehicle control unit of electric vehicle, storage battery, battery management unit and current/voltage tachogen;

The port of said stator inverter and rotor inverter connects the port of storage battery respectively; The stator and rotor of brushless dual-feed motor absorb energy or to the storage battery feedback energy by stator inverter and rotor inverter from storage battery successively;

The port of said motor-driven and control module connects the port of stator inverter and rotor inverter respectively, to stator inverter and rotor inverter pwm control signal is provided by said motor-driven and control module;

Said vehicle control unit of electric vehicle receives the motor operating state signal that motor-driven and control module provide, and sends the torque control command to it;

Said current/voltage tachogen and battery management unit send feedback signal and battery management signal to motor-driven and control module successively;

The port of said motor-driven and control module connects the port of rotor/stator winding bang-bang circuit; Rotor/stator winding bang-bang circuit is according to the operational mode of the instruction control brushless dual-feed motor of said motor-driven and control module;

The type of drive of the said brushless dual-feed motor of information Control that said rotor/stator winding bang-bang circuit is provided according to entire car controller by motor-driven and control module.

As a kind of preferred version, motor-driven according to the invention and control module comprise: central processing module, current/voltage signal condition/translation circuit, photoelectric encoder signal conditioning circuit, rotor/stator inverter isolated drive circuit; The feedback signal that the current/voltage sensor is gathered is through current/voltage signal condition/translation circuit filtering and conversion, and the feedback signal that tachogen is gathered inputs to central processing module after the photoelectric encoder signal conditioning circuit carries out shaping and frequency multiplication; PWM drive signal by central processing module calculating stator inverter and rotor inverter exports stator inverter and rotor inverter to after rotor/stator inverter isolated drive circuit carries out power gain.

As another kind of preferred version, voltage/current tachogen according to the invention comprises: Hall-type voltage/current sensor and incremental optical-electricity encoder.

Further, central processing module according to the invention adopts the DSP-TMS320F2812 chip, utilizes its 12 built-in PWM lead-out terminals to control the input voltage of double feedback electric engine stator and rotor simultaneously.

Further, stator inverter according to the invention and rotor inverter adopt the IGBT on-off element.

In addition, the present invention is provided with rotor/stator fault of converter check and analysis unit in said motor in electric automobile driving and control module; The port of said rotor/stator fault of converter check and analysis unit connects the port of stator inverter and rotor inverter through central processing unit; Said rotor/stator fault of converter check and analysis unit is monitored the mode of operation of stator inverter and rotor inverter in real time, and fault status signal is sent into entire car controller.

With the control method that above-mentioned electronlmobil brushless dual-feed motor drive system matches, can implement successively as follows:

(1) drive control part initialization;

(2) accept the command signal of entire car controller through the CAN bus, judge the running state that drive motor should be located;

If the asynchronous operation state is then carried out:

A, send the asynchronous operation state control signal to rotor/stator winding bang-bang circuit;

B, entering stator power supply asynchronous operation interrupt control routine, CPU seals the rotor three-phase pulse simultaneously;

C, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step b;

If the double-fed running state is then carried out:

E, send control signal, switch to the double-fed running state to rotor/stator winding bang-bang circuit;

F, entering double-fed outage program;

G, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step f;

Judge running state,, then carry out if stator inverter inverter breaks down:

H, send stator fault of converter control signal to rotor/stator winding bang-bang circuit;

I, entering rotor power supply asynchronous operation interrupt control routine, CPU seals the stator three-phase pulse simultaneously;

J, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step I;

Judge running state,, then change and remove to carry out a, realize the asynchronous operation state if the rotor inverter breaks down.

As a kind of preferred version, stator power supply asynchronous operation interrupt control routine is carried out following steps successively in the step according to the invention (2):

A1, shielding interval;

B1, read ADC;

C1, calculating i A, i B, U DcValue;

D1, calculating stator voltage component;

E1, calculating stator magnetic linkage;

F1, calculating electromagnetic torque;

G1, confirm sector, stator magnetic linkage place;

H1, magnetic linkage, torque and given value are relatively;

I1, table look-up on off state;

J1, write stator PWM register;

K1, speed calculation and speed PI algorithm;

L1, the next AD conversion of startup.

As another kind of preferred version, double-fed outage program is carried out following steps successively in the step according to the invention (2):

A1, shielding interval;

B1, read ADC;

C1, calculating i A, i B, i a, i b, U DcValue;

D1, calculating rotor component of voltage;

E1, calculating rotor magnetic linkage;

F1, calculating electromagnetic torque;

G1, confirm sector, stator and rotor flux place;

H1, magnetic linkage, 2 stagnant chain rates of torque are;

I1, table look-up on off state;

J1, write rotor PWM register;

K1, speed calculation and speed PI algorithm;

L1, the next AD conversion of startup.

Further, step according to the invention (2) rotor power supply asynchronous operation interrupt control routine is carried out following steps successively:

A1, shielding interval;

B1, read ADC;

C1, calculating i a, i b, U DcValue;

D1, calculating rotor voltage component;

E1, calculating rotor flux;

F1, calculating electromagnetic torque;

G1, confirm sector, rotor flux place;

H1, magnetic linkage, 2 stagnant chain rates of torque are;

I1, table look-up on off state;

J1, write rotor PWM register;

K1, speed calculation and speed PI algorithm;

L1, the next AD conversion of startup.

The present invention provides a kind of later-model motor driven systems---brushless dual-feed motor drive system for electronlmobil, and the brushless dual-feed motor speed governing has the power factor height, and dynamic property is good; Advantages such as speed-regulating range width are applied to the drive system of automobile, with electric energy feed-in stator and armature loop respectively; Current collection moves and electricity generate function is an one; Can realize double-fed, asynchronous, synchronous operation mode flexibly, significantly improve the controllability of the energy of driving system, promote the energy recovery rate under the braking mode to greatest extent; Simultaneously, system inverter redundant a set of fault state under is not provided, the reliability that goes in raising automobile field under not increasing the situation of any equipment.

The present invention can obtain the response of wide speed regulating range and Fast Dynamic with the drive motor of brushless dual-feed motor as electronlmobil, and energy feedback rate is high under the braking mode; Mechanical specialities is hard, and immunity to a distrubance is strong, and under the situation of a cover inverter generation major failure; Motor still can be used as general induction motor and uses; For the automobile of field activity, be equivalent to whole actuating device and exist one to overlap " redundancy " system that need not increase equipment, improved the reliability of open-air automotive operation greatly.For the research and development of driving motor for electric automobile control system provide new approaches.

Brushless dual-feed motor is asynchronous, synchronous, the controlling flexibly of the multiple operation scheme of double-fed, is more suitable for the operating condition of Automobile Complex, and wide speed regulating range has reduced the requirement to the automobile mechanical driving device, and the braking energy percent recovery is high.

The present invention also can be applicable to field of hybrid electric vehicles, and in today that the development of power electronic devices is maked rapid progress, the present invention has good application prospects and market outlook.

Comprehensive above factor, compared with prior art, application of the present invention can improve the controller performance of automobile aspect as follows:

1, can improve the control torque in automobile high-speed district, expanding governing.

2, can improve energy recovery rate under the automobile brake state, improve the continuation of the journey mileage of electronlmobil.

3, can reduce the capacity of single inverter, its working current is reduced, reduce the energy consumption of motor driven systems.

4, when inverter breaks down, but automobile reduction of speed redundancy is gone the reliability of raising drive system work.

Description of drawings

Below in conjunction with the accompanying drawing and the specific embodiment the present invention is described further.Protection scope of the present invention is not only limited to the statement with following content.

Fig. 1 is the integral structure sketch of drive system of electric automobile of the present invention;

Fig. 2 is an electronlmobil brushless dual-feed motor drive system block scheme of the present invention;

Fig. 3 is CAN bus of the present invention and serial interface communicating circuit;

Fig. 4 is a stator side electric current and voltage acquisition and conditioning circuit of the present invention;

Fig. 5 is a stator side inverter switch element isolated drive circuit of the present invention;

Fig. 6 is a photoelectric encoder signal conditioning circuit of the present invention;

Fig. 7 is a rotor bang-bang circuit of the present invention;

Fig. 8 is a rotor-side electric current and voltage acquisition and conditioning circuit of the present invention;

Fig. 9 is a rotor side inverter on-off element isolated drive circuit of the present invention;

Figure 10 is fault detection analysis of the present invention and protective circuit.

Figure 11 is a control program diagram of circuit of the present invention;

Figure 12 is an asynchronous operation program flow diagram of the present invention;

Figure 13 is a double-fed operation procedure block diagram of the present invention;

Figure 14 is a stator failure flow chart of the present invention.

The specific embodiment

Like Fig. 1 and shown in Figure 2; Electronlmobil brushless dual-feed motor drive system, it comprises brushless dual-feed motor, stator inverter, rotor inverter, rotor/stator winding bang-bang circuit, motor-driven and control module, vehicle control unit of electric vehicle, storage battery, battery management unit and current/voltage tachogen;

The port of said stator inverter and rotor inverter connects the port of storage battery respectively; The stator and rotor of brushless dual-feed motor absorb energy or to the storage battery feedback energy by stator inverter and rotor inverter from storage battery successively;

The port of said motor-driven and control module connects the port of stator inverter and rotor inverter respectively, to stator inverter and rotor inverter control signal is provided by said motor-driven and control module;

Said vehicle control unit of electric vehicle receives the motor operating state signal that motor-driven and control module provide, and sends the torque control command to it;

Said current/voltage tachogen and battery management unit send feedback signal and battery management signal to motor-driven and control module successively;

The port of said motor-driven and control module connects the port of rotor/stator winding bang-bang circuit; Rotor/stator winding bang-bang circuit is according to the operational mode of the instruction control brushless dual-feed motor of said motor-driven and control module;

The type of drive of the said brushless dual-feed motor of information Control that said rotor/stator winding bang-bang circuit is provided according to entire car controller by motor-driven and control module.

Said motor-driven and control module comprise: central processing module, current/voltage signal condition/translation circuit, photoelectric encoder signal conditioning circuit, rotor/stator inverter isolated drive circuit; The feedback signal that the current/voltage sensor is gathered is through current/voltage signal condition/translation circuit filtering and conversion, and tachogen inputs to central processing module after the photoelectric encoder signal conditioning circuit carries out shaping and frequency multiplication; PWM drive signal by central processing module calculating stator inverter and rotor inverter exports stator inverter and rotor inverter to after rotor/stator inverter isolated drive circuit carries out power gain.

Said voltage/current tachogen comprises: Hall-type voltage/current sensor and incremental optical-electricity encoder.

Said central processing module adopts the DSP-TMS320F2812 chip, utilizes its 12 built-in PWM lead-out terminals to control the input voltage of double feedback electric engine stator and rotor simultaneously.Said stator inverter and rotor inverter adopt the IGBT on-off element.

The present invention mainly comprises brushless dual-feed motor, motor-driven and control module, rotor/stator inverter and several major parts of accessory feed thereof.

Wherein, motor-driven and control module comprise: central processing module (CPU-DSP-TMS320F2812 chip), current/voltage signal condition/translation circuit, photoelectric encoder signal conditioning circuit, rotor/stator inverter isolated drive circuit; The feedback signal that the current/voltage sensor is gathered is through current/voltage signal condition/translation circuit filtering and conversion, and tachogen inputs to central processing module after the photoelectric encoder signal conditioning circuit carries out shaping and frequency multiplication; PWM drive signal by central processing module calculating stator inverter and rotor inverter exports stator inverter and rotor inverter to after rotor/stator inverter isolated drive circuit carries out power gain.

Motor-driven according to the invention and control module comprise driver module and control module.Control module in said motor-driven and the control module comprises central processor CPU-DSP-TMS320F2812 chip, fault detection analysis and protective circuit referring to Figure 10, current/voltage signal condition/translation circuit, and promptly stator and rotor voltage and current signal acquisition and conditioning circuit is referring to Fig. 4 and Fig. 8.Photoelectric encoder signal conditioning circuit in motor-driven and the control module is referring to Fig. 6.

Referring to Fig. 2, the present invention is measured current of electric/voltage signal by the Hall-type voltage/current sensor and sends into the CPU-DSP-TMS320F2812 chip through current/voltage signal condition/translation circuit conversion arrangement; Said incremental optical-electricity encoder is measured the rotating speed of motor signal and after the photoelectric encoder signal conditioning circuit carries out shaping and frequency multiplication, is imported the CPU-DSP-TMS320F2812 chip;

The stator and rotor input end of the output termination brushless dual-feed motor of said stator inverter and rotor inverter; Driver module in said motor-driven and the control module comprises rotor/stator inverter isolated drive circuit, referring to Fig. 5 and Fig. 9.The input end of the port of rotor/stator inverter isolated drive circuit and stator inverter and rotor inverter joins; Driver module in said motor-driven and the control module and control module are carried out communication through CAN bus and entire car controller, and receiving control information also returns running state, to realize the control to said brushless dual-feed motor, referring to Fig. 3; The alternating-current voltage/AC voltage that said stator inverter and rotor inverter convert the vdc of storage battery to variable frequency respectively according to the pwm signal that sends in motor-driven and the control module offers the stator and the rotor of said brushless dual-feed motor.Rotor inverter according to the invention adopts voltage source inverter.

Drive motor duplex winding brushless of the present invention, stator and rotor respectively by with motor-driven and control module join two the cover inverter power supplies; Two cover inverters directly join with storage battery, from storage battery absorption energy or to the storage battery feedback energy.

The feedback signal (motor stator and rotor electric current, the real-time image data of inverter input voltage and motor speed) that motor-driven and control module need is provided by Hall-type voltage/current sensor and incremental optical-electricity encoder, referring to Fig. 2.Motor-driven and control module receive the torque command signal that entire car controller provides and the information of battery management unit through the CAN bus; By electric current, voltage, tachogen feedback signal is provided; Employing voltage and current signal conditioning translation circuit is with voltage, current feedback signal filtering and be transformed to the receivable signal of master cpu chip DSP-TMS320F2812 chip, adopts the signal conditioning circuit of incremental optical-electricity encoder that speed feedback signal is carried out shaping and frequency multiplication.Cpu chip DSP-TMS320F2812 chip in motor-driven and the control module calculates the PWM drive signal of two cover inverters, carries out exporting behind the power gain through switch element driver circuit, is that 12 switch element IGBT of two cover inverters provide control signal.

By the cpu chip DSP-TMS320F2812 chip software in motor-driven and control module control stator and rotor winding bang-bang circuit, that motor is adopted when high velocity or heavy duty is fixed/double-fed operation scheme that rotor is supplied power simultaneously; When low regime or underloading, can adopt the asynchronous operation mode of stator power supply.If stator inverter et out of order adopts the rotor asynchronous operation mode of power supply separately, if rotor inverter et out of order adopts the stator asynchronous operation mode of power supply separately.At descending or glancing impact, stator and rotor to the storage battery feedback energy, touch feedback energy by stator to electric power storage during low speed simultaneously during high speed.

Two inverters of the storage battery of electronlmobil brushless dual-feed motor drive system of the present invention and rotor link to each other, and storage battery is fixed/rotor power supply through inverter when electronic, and glancing impact is fixed/and rotor advances storage battery through inverter with energy recovery.Inverter circuit becomes the alternating-current voltage/AC voltage of adjustable frequency with dc voltage conversion, is the double feedback electric engine power supply.The DSP-TMS320F2812 chip of motor-driven and control module carries out communication through CAN bus and entire car controller; Receive the torque control command and return the running state of motor; When automobile need send drive torque; Entire car controller sends instruction to the DSP-TMS320F2812 chip, and dsp chip is controlled computing according to the Direct Torque Control algorithm, obtains the pwm control signal of two cover inverter switch element IGBT; Isolate the back through photoelectricity and give inverter circuit after by the switch element driver circuit amplification, the alternating-current voltage/AC voltage that inverter circuit converts the vdc of storage battery to variable frequency according to pwm signal offers the stator and the rotor of said brushless dual-feed motor.When the energy recovery mode of operation, entire car controller sends instruction to dsp chip, the control signal that inverter circuit sends according to dsp chip; Be operated in the rectification mode of operation; With the alternating current repoussage of motor feedback is vdc, to battery charge, referring to Fig. 1 and Fig. 2.

Because native system adopts double feedback electric engine Direct Torque Control method; Control algorithm needs the real time data of stator and rotor three phase current, inverter circuit bus vdc and motor speed; Hall-type electric current in the voltage/current tachogen and voltage sensor are accomplished the sampling of electric current, voltage; Incremental optical-electricity encoder is accomplished the sampling of motor speed; Send into the CPU of motor-driven and control module through the voltage and current signal modulate circuit of motor---the input end of DSP-TMS320F2812 chip, CPU carries out the Direct Torque Control computing, realizes magnetic linkage closed loop, torque closed loop and speed closed loop control; Through task manager output pwm control signal, as shown in Figure 2.

As a kind of preferred version; The present invention is provided with motor stator inverter and rotor fault of converter check and analysis unit especially in motor-driven and control module; The mode of operation of the two cover RHVCs of monitoring in real time, when detecting stator inverter et out of order, motor-driven and control module are sent instruction; With the three-phase stator winding short circuit of brushless dual-feed motor, switch to the monolateral speed governing state of rotor inversion this moment; When detecting rotor inverter et out of order,, switch to the monolateral speed governing state of stator inverter this moment with the rotor three-phase winding circuit short circuit of brushless dual-feed motor; The mode of this redundancy has improved the reliability of this drive system greatly, and is as shown in Figure 7.S1, S2, S3 are respectively the control signals that comes from DSP, and the asynchronous mode that the S1 signal is used to the system that realizes starts, and the S2 signal switches to the double-fed running state by asynchronous mode, running state when the S3 signal is the stator fault of converter with system's operation.S1 is provided by the T3PWM of control desk P1 mouth, and S2 is provided by T4PWM, and S3 is provided by T1CTPR, referring to Fig. 7.

Used for electric vehicle brushless dual-feed motor drive system of the present invention and control technology thereof; Its driven by power is partly used brushless dual-feed motor; The Direct Torque Control of using frequency control on the control technology is theoretical; The electrical motor of this electric machine control system current collection electrical automobile, electrical generator, starter be in one, through control technology realize starting, brake, the operation of just changeing, reverse.

Brushless dual-feed motor of the present invention is a kind of Wound-rotor type brushless dual-feed motor, and its structure comprises casing, stator, phase-wound rotor, motor shaft.Wherein, be provided with two on the stator core and overlap independently coil winding, the shared same fixed core of two cover windings, it has wideer speed adjustable range than common electric machine, faster speed adjusting performance, the control of the energy flow direction more flexibly.

Aspect the realization of control system, adopt two inverters, the present invention adopts two cover inverters, realizes the two-way flow of brushless dual-feed motor control system energy, referring to Fig. 1 and Fig. 2.Difficult point problem for the capacity coupling that solves motor stator and rotor winding inverter; The present invention adopts the method for Reactive Power Control, makes the rotor reactive volt-amperes reduce to minimum, improves drive efficiency; Obtain minimum copper loss; Reduce the on-off element capacitance grade in the actuating device, the capacity of two cover inverters is all significantly reduced, reduce system cost.

As shown in Figure 1, for using the drive system of electric automobile structure of brushless dual-feed motor.

Entire car controller is that motor driven systems provides the torque control command and receives the operating state signal of motor driven systems through the CAN bus; Motor drive controller is according to the operation of car load instruction control motor; Storage battery is that motor provides the driving energy; During automobile brake, motor can advance storage battery with energy recovery on the automobile axle.Motor adopts brushless dual-feed motor; Its rotor all connects three phase inverter, and the alternating-current voltage/AC voltage that has pwm signal that two inverters send according to motor-driven and control module to convert the vdc of battery to variable frequency offers the stator and the rotor of double feedback electric engine.

Motor-driven and control module adopt frequency control Direct Torque Control method.

Hardware block diagram of the present invention is as shown in Figure 2, and according to the difference of strong and weak electricity, system is made up of two circuit cards, is respectively power amplifier board and control desk.Power amplifier board is integrated in the system all strong power parts comprise converter main circuit, and bus voltage detects, and stator and rotor two-way current signal detects, protective circuit and rotor winding bang-bang circuit.Control desk uses motor special integrated circuit DSP-TMS320F2812 to be CPU; Control desk mainly contains following components and forms: CPU and peripheral auxiliary circuits; The main realization of being responsible for Strategy of Direct Torque Control and algorithm, the work such as PWM energizing signal that produce IGBT; CAN bus and serial communication modular are through bus and the communication of vehicle complete vehicle controller; Reception is to the control information of motor and return running state; Make the vehicle complete vehicle controller carry out controls such as speed governing, braking to motor according to information requirements; Switch element IGBT drives buffer circuit, bus voltage and stator and rotor current signal modulate circuit, photoelectric encoder signal conditioning circuit and fault detection analysis circuit.

The brushless dual-feed motor that the present invention adopts may operate at multiple kind of mode of speed control of the different asynchronous and double-fed of power supply mode, all can apply the controlled voltage of frequency in motor stator and rotor both sides and realize the adjusting to motor speed.

Because the complexity of condition of road surface, electronlmobil is relatively harsher to the requirement of double feedback electric engine drive system, requires double feedback electric engine that higher starting torque can be provided, can be in bigger speed adjustable range internal ratio speed governing faster, and can the actv. feedback electric energy.

The control method of above-mentioned electronlmobil brushless dual-feed motor drive system, can implement as follows:

(1) drive control part initialization;

(2) accept the command signal of entire car controller through the CAN bus, judge the running state that drive motor should be located;

If the asynchronous operation state is then carried out:

A, send the asynchronous operation state control signal to rotor/stator winding bang-bang circuit;

B, entering stator power supply asynchronous operation control program, CPU seals the rotor three-phase pulse simultaneously;

C, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step b;

If the double-fed running state is then carried out:

E, send control signal, switch to the double-fed running state to rotor/stator winding bang-bang circuit;

F, entering double-fed outage program;

G, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step f.

Judge running state,, then carry out if the stator inverter breaks down:

H, send stator fault of converter control signal to rotor/stator winding bang-bang circuit;

I, entering rotor power supply asynchronous operation interrupt routine, CPU seals the stator three-phase pulse simultaneously;

J, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step I;

Judge running state,, then change and remove to carry out a, realize the asynchronous operation state if the rotor inverter breaks down.

Wherein, stator power supply asynchronous operation control program is carried out following steps successively in the step according to the invention (2):

A1, shielding interval;

B1, read ADC;

C1, calculating i A, i B, U DcValue;

D1, calculating stator voltage component;

E1, calculating stator magnetic linkage;

F1, calculating electromagnetic torque;

G1, confirm sector, stator magnetic linkage place;

H1, magnetic linkage, torque and given value are relatively;

I1, table look-up on off state;

J1, write stator PWM register;

K1, speed calculation and speed PI algorithm;

L1, the next AD conversion of startup.

Referring to Figure 13, double-fed operation control program is carried out following steps successively in the step according to the invention (2):

A1, shielding interval;

B1, read ADC;

C1, calculating i A, i B, i a, i b, U DcValue;

D1, calculating rotor component of voltage;

E1, calculating rotor magnetic linkage;

F1, calculating electromagnetic torque;

G1, confirm sector, stator and rotor flux place;

H1, magnetic linkage, 2 stagnant chain rates of torque are;

I1, table look-up on off state;

J1, write rotor PWM register;

K1, speed calculation and speed PI algorithm;

L1, the next AD conversion of startup.

Referring to Figure 14, wherein, step according to the invention (2) rotor power supply asynchronous operation control program is carried out following steps successively:

A1, shielding interval;

B1, read ADC;

C1, calculating i a, i b, U DcValue;

D1, calculating rotor voltage component;

E1, calculating rotor flux;

F1, calculating electromagnetic torque;

G1, confirm sector, rotor flux place;

H1, magnetic linkage, 2 stagnant chain rates of torque are;

I1, table look-up on off state;

J1, write rotor PWM register;

K1, speed calculation and speed PI algorithm;

L1, the next AD conversion of startup.

Shown in figure 12, the timer T1 cycle of the present invention indicates that starting AD changes, and triggers ADC behind the AD end of conversion and interrupts, and program changes the operation of ADC interrupt service subroutine over to.The calculating of Direct Torque Control, implementation process all realize in this subprogram under the double-fed running state.

Shielding interval

After getting into the ADC interrupt service subroutine, need all maskable interrupts of shielding, so that the interference-free interrupt handling of carrying out of program.

Read ADC

The built-in ADC module of TMS320F2812 is 12 16 channels, and the result of AD conversion is stored among the AD transformation result register ADCRESULTn.This register is 16, and 12 of conversion are kept at a high position, low 4 reservations.The sampled value of result register moved to right deposit variable space ia, ib, Udc after four in and preserve.So that the back program is carried out data handing.

Calculate the value (only calculate iA, iB, Udc during asynchronous operation, only calculate ia, ib, Udc when changeing the self-powered asynchronous operation) of iA, iB, ia, ib, Udc

The result of AD conversion is actual to be i A, i B, i a, i b, U DcValue after the linear transformation.The current acquisition of current sensor general-50A~50A is a voltage signal, through becoming the voltage signal input DSP of 0~3V after the level translation.To biphase current i A, i B, i a, i b, following relation is arranged:

y=33.33x-50

Because DC bus-bar voltage is a direct current signal, thus the voltage measurement scope of voltage sensor only used with 0~1000V, and convert the voltage signal input DSP of 0~3V into, transformational relation is following:

y=333.33x

Y is an actual value, and x is the voltage result of AD conversion.Calculate i A, i B, i a, i bValue after, 3/2 transformation for mula below utilizing can be obtained the current i d under the rotor coordinate dq coordinate, the value of iq.

i d = 3 2 i a i q = 1 2 i a + 2 i b

The calculating voltage component

u a = 1 3 U dc ( 2 S a - S b - S c ) u b = 1 3 U dc ( - S a + 2 S b - S c ) u c = 1 3 U dc ( - S a - S b + 2 S c )

Calculate three phasevoltage component ua, ub, uc by on off state Sa, Sb, Sc, see formula (4.4), pass through three-phase/two phase coordinates conversion then, see formula (4.5), can obtain two phase voltage component ud, uq under the rotor dq system of axes.

u d = 3 2 u a u q = 1 2 u a + 2 u b

The magnetic linkage model

Magnetic linkage model in the native system Direct Torque Control program uses the u-i model, can calculate the rotor magnetic linkage respectively.

ψ d = ∫ ( u d - R r i d ) dt ψ q = ∫ ( u q - R r i q ) dt

Integral operation will be used digital integration in the digital display circuit, adopts Euler method to carry out integration in this program, promptly

y k=y k-1+hf k-1

In the formula, y kBe currency, y K-1Be the value in a last moment, h is a step-length, f K-1Derivative for a last moment.

Torque model

Double feedback electric engine electromagnetic torque computing formula is:

T e=n pqi rddi rq)

Confirm sector, rotor flux place

According to the rotor dq axle magnetic linkage ψ that calculates d, ψ q, calculate rotor flux vector place sector number sector (sector=1,2 ..., 6), as back switching voltage vector select according to one of.

Magnetic linkage, torque and given value are relatively

Magnetic linkage that calculates above and torque are compared with given value respectively, through output torque control signal F behind the hysteresis comparator mWith magnetic linkage control signal F ψ, as the selection foundation of back space voltage vector.

Table look-up on off state

According to the stagnant ring output of magnetic linkage F ψ, the torque ring output F that stagnates mAnd magnetic linkage sector signals sector, confirm to output to the optimized switch vector of inverter.Promptly from V 1(100), V 2(110), V 3(010), V 4(011), V 5(001), V 6(101), V 7(111), V 0(000) selects optimum regime in.

Write the PWM register

According to the optimized switching vector of from the optimized switching vector table, reading; Revise task manager A (EVA) and task manager (EVB) real time modifying comparand register 1 ~ 6; Obtain PWM1 ~ PWM6 and PWM7 ~ PWM12 ten two road pwm signals; The space voltage vector of control inverter output expectation is to reach the purpose of Direct Torque Control.

Speed calculation and speed PI algorithm

Through counting machine is set in interrupt service subroutine, per ten interruptions are calculated a rotating speed and are moved the PI algorithm one time.

Setting sampling time T is 1ms.Regularly realize by the T1 timer.

Start next AD conversion

Remove all interruptions, opens interrupters starts next AD conversion with software as the triggering source, for next AD conversion is got ready.

Be with being appreciated that; More than about specific descriptions of the present invention; Only be used to the present invention is described and be not to be subject to the described technical scheme of the embodiment of the invention; Those of ordinary skill in the art should be appreciated that still and can make amendment or be equal to replacement the present invention, to reach identical technique effect; As long as satisfy the use needs, all within protection scope of the present invention.

Claims (11)

1. electronlmobil brushless dual-feed motor drive system; It is characterized in that, comprise brushless dual-feed motor, stator inverter, rotor inverter, rotor/stator winding bang-bang circuit, motor-driven and control module, vehicle control unit of electric vehicle, storage battery, battery management unit and current/voltage tachogen;
The port of said stator inverter and rotor inverter connects the port of storage battery respectively; The stator and rotor of brushless dual-feed motor absorb energy or to the storage battery feedback energy by stator inverter and rotor inverter from storage battery successively;
The port of said motor-driven and control module connects the port of stator inverter and rotor inverter respectively, to stator inverter and rotor inverter control signal is provided by said motor-driven and control module;
Said vehicle control unit of electric vehicle receives the motor operating state signal that motor-driven and control module provide, and sends the torque control command to it;
Said current/voltage tachogen and battery management unit send feedback signal and battery management signal to motor-driven and control module successively;
The port of said motor-driven and control module connects the port of rotor/stator winding bang-bang circuit; Rotor/stator winding bang-bang circuit is according to the operational mode of the instruction control brushless dual-feed motor of said motor-driven and control module;
The type of drive of the said brushless dual-feed motor of information Control that said rotor/stator winding bang-bang circuit is provided according to entire car controller by motor-driven and control module.
2. electronlmobil brushless dual-feed motor drive system according to claim 1, it is characterized in that: said motor-driven and control module comprise: central processing module, current/voltage signal condition/translation circuit, photoelectric encoder signal conditioning circuit, rotor/stator inverter isolated drive circuit; The feedback signal that the current/voltage sensor is gathered is through current/voltage signal condition/translation circuit filtering and conversion, and tachogen inputs to central processing module after the photoelectric encoder signal conditioning circuit carries out shaping and frequency multiplication; PWM drive signal by central processing module calculating stator inverter and rotor inverter exports stator inverter and rotor inverter to after rotor/stator inverter isolated drive circuit carries out power gain.
3. electronlmobil brushless dual-feed motor drive system according to claim 2 is characterized in that: said voltage/current tachogen comprises: Hall-type voltage/current sensor and incremental optical-electricity encoder.
4. according to claim 2 or 3 described electronlmobil brushless dual-feed motor drive systems; It is characterized in that: said central processing module adopts the DSP-TMS320F2812 chip, utilizes its 12 built-in PWM lead-out terminals to control the input voltage of brushless dual-feed motor stator and rotor simultaneously.
5. electronlmobil brushless dual-feed motor drive system according to claim 4 is characterized in that: said stator inverter and rotor inverter adopt the IGBT on-off element.
6. electronlmobil brushless dual-feed motor drive system according to claim 5 is characterized in that: in said motor-driven and control module, be provided with rotor/stator fault of converter check and analysis unit; The port of said rotor/stator fault of converter check and analysis unit connects the port of stator inverter and rotor inverter; Said rotor/stator fault of converter check and analysis unit is monitored the mode of operation of stator inverter and rotor inverter in real time, and fault status signal is sent into vehicle control unit of electric vehicle.
7. the control method like the said electronlmobil brushless dual-feed motor of claim 5 drive system is characterized in that, implements successively as follows:
(1) drive control part initialization;
(2) accept the command signal of entire car controller through the CAN bus, judge the running state that drive motor should be located;
If the asynchronous operation state is then carried out:
A, send the asynchronous operation state control signal to rotor/stator winding bang-bang circuit;
B, entering stator power supply asynchronous operation interrupt control routine, CPU seals the rotor three-phase pulse simultaneously;
C, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step b;
If the double-fed running state is then carried out:
E, send control signal, switch to the double-fed running state to rotor/stator winding bang-bang circuit;
F, entering double-fed outage program;
G, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step f;
Judge running state,, then carry out if stator inverter inverter breaks down:
H, send stator fault of converter control signal to rotor/stator winding bang-bang circuit;
I, entering rotor power supply asynchronous operation interrupt control routine, CPU seals the stator three-phase pulse simultaneously;
J, judgement running state change, if then return step (2); If not, then CAN receives and replys, and returns step I;
Judge running state,, then change and remove to carry out a, realize the asynchronous operation state if the rotor inverter breaks down.
8. the control method of electronlmobil brushless dual-feed motor drive system according to claim 7 is characterized in that: stator power supply asynchronous operation interrupt control routine is carried out following steps successively among the said step b:
A1, shielding interval;
B1, read A-D converter;
C1, calculating i A, i B, Ud cValue;
D1, calculating stator voltage component;
E1, calculating stator magnetic linkage;
F1, calculating electromagnetic torque;
G1, confirm sector, stator magnetic linkage place;
H1, magnetic linkage, torque and given value are relatively;
I1, table look-up on off state;
J1, write stator PWM register;
K1, speed calculation and speed PI algorithm;
L1, the next AD conversion of startup.
9. the control method of electronlmobil brushless dual-feed motor drive system according to claim 8 is characterized in that: double-fed outage program is carried out following steps successively among the said step f:
A1, shielding interval;
B1, read A-D converter;
C1, calculating i A, i B, i a, i b, U DcValue;
D1, calculating rotor component of voltage;
E1, calculating rotor magnetic linkage;
F1, calculating electromagnetic torque;
G1, confirm sector, stator and rotor flux place;
H1, magnetic linkage, 2 stagnant chain rates of torque are;
I1, table look-up on off state;
J1, write rotor PWM register;
K1, speed calculation and speed PI algorithm;
L1, the next AD conversion of startup.
10. the control method of electronlmobil brushless dual-feed motor drive system according to claim 9 is characterized in that: said step I rotor power supply asynchronous operation interrupt control routine is carried out following steps successively:
A1, shielding interval;
B1, read A-D converter;
C1, calculating i a, i b, U DcValue;
D1, calculating rotor voltage component;
E1, calculating rotor flux;
F1, calculating electromagnetic torque;
G1, confirm sector, rotor flux place;
H1, magnetic linkage, 2 stagnant chain rates of torque are;
I1, table look-up on off state;
J1, write rotor PWM register;
K1, speed calculation and speed PI algorithm;
L1, the next AD conversion of startup.
CN200910220276A 2009-11-30 2009-11-30 Brushless double-fed motor driving system of electric vehicle and control method thereof CN102079250B (en)

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